If you would want to change the yaw values, you will need to do the following:
- You will have to design your algorithm for changing the yaw values. The values would change in the orient_ref bus. This would be very similar to the changes of X, Y and Z values we did in the pos_ref bus in this video.
- You will accordingly need to update the values in the UpdatedReferenceCmds bus that is sent as the output from the Path Planning block as shown in the following figure using red boxes.
As far as the track is considered, it could come reverse too.
I hope this helps.